Yes. Catholics confess that Jesus Christ is one divine Person with a fully divine nature and a fully human nature. The Son truly became human without ceasing to be God.
A little more context
Jesus’ humanity is real: he lived a human life, suffered and died. His divinity is also real. The Incarnation is neither God merely wearing a human disguise nor a human person gradually becoming divine. This matters for prayer: in Christ, God comes close to human life and acts for our salvation.
A practical beginning
Read a short Gospel scene, such as Jesus meeting a grieving family in John 11. Notice both his human tenderness and the authority of his words. Bring one ordinary part of your own life into prayer with him.
Source & further reading
Catechism 456–483: the Son of God became man (opens in a new tab)↗Teaching summaries are introductions. Follow the linked Church source for its fuller context.